CN111661041A

CN111661041A - Vehicle control device

Info

Publication number: CN111661041A
Application number: CN202010151688.9A
Authority: CN
Inventors: 岩崎瞬
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2019-03-07
Filing date: 2020-03-06
Publication date: 2020-09-15
Anticipated expiration: 2040-03-06
Also published as: JP2020142675A; JP7049283B2; US11136026B2; CN111661041B; US20200282986A1

Abstract

The present invention relates to a vehicle control device. When an external recognition unit (66) recognizes that an obstacle (92) that impedes the travel of an oncoming vehicle (98) is present in an oncoming lane (102) ahead of a host vehicle (90) in the direction of travel and recognizes that a leading vehicle (96) is present at a position ahead of the obstacle (92) in the direction of travel, and a behavior determination unit (76) determines that the leading vehicle (96) is stopped at a position within a predetermined distance (1 st predetermined distance (D1t)) from the obstacle (92), an action determination unit (78) causes the host vehicle (90) to stop in front of the obstacle (92). Accordingly, when the host vehicle and the oncoming vehicle pass alternately, the occupant of the host vehicle and the occupant of the oncoming vehicle can be given a sense of safety.

Description

Vehicle control device

Technical Field

The present invention relates to a vehicle control device capable of automatically performing at least one of driving force output control, brake control, and steering control of a vehicle.

Background

When the host vehicle is traveling in the host vehicle lane, the oncoming vehicle may locally cross the lane line and enter the host vehicle lane in order to avoid an obstacle present in the oncoming lane. In such a situation, there is a fear that the own vehicle and the oncoming vehicle may come into contact with each other. International publication No. 2015/198426 discloses a vehicle control device that prevents a subject vehicle and an opposing vehicle (moving object) from passing alternately at a position where an obstacle (stationary object) is present. According to this vehicle control device, the subject vehicle and the oncoming vehicle do not pass each other at the position where the obstacle is present, and therefore, it is possible to prevent the vehicles from coming into contact with each other or the like due to the obstacle.

Disclosure of Invention

According to the vehicle control device of international publication No. 2015/198426, even if there is an obstacle in the oncoming lane, if no oncoming vehicle is traveling in the oncoming lane, the own vehicle can travel beside the obstacle. However, even in such a case, the vehicle may temporarily stop around an obstacle due to traffic congestion or the like. At this time, when the oncoming vehicle reaches the position of the obstacle and attempts to pass between the subject vehicle and the obstacle, the oncoming vehicle and the subject vehicle approach each other. As a result, the occupant of the subject vehicle and the occupant of the oncoming vehicle feel nervous.

The present invention has been made in view of the above-described problems, and an object thereof is to provide a vehicle control device that can give a sense of safety to an occupant of a host vehicle and an occupant of an oncoming vehicle.

An aspect of the present invention has an external world identification section, a behavior determination section, a motion determination section, and a vehicle control section, wherein,

the external recognition unit recognizes a state of a host vehicle lane in which a host vehicle is traveling and a state of an opposing lane adjacent to the host vehicle lane, based on information output from an external sensor;

the behavior determination section determines a behavior of a preceding vehicle on the own-vehicle lane;

the action determination section determines an action of the own vehicle based on the recognition result of the external recognition section and the determination result of the behavior determination section;

the vehicle control portion controls the own vehicle in accordance with the action determined by the action determination portion,

the behavior determination unit may be configured to stop the host vehicle in front of the obstacle when the external recognition unit recognizes that an obstacle obstructing travel of an oncoming vehicle is present on the oncoming lane ahead of the host vehicle in a traveling direction and recognizes that the host vehicle is present at a position ahead of the obstacle in the traveling direction, and when the behavior determination unit determines that the host vehicle is stopped at a position within a predetermined distance from the obstacle.

According to the present invention, when the subject vehicle and the oncoming vehicle pass alternately, it is possible to give a sense of safety to the occupant of the subject vehicle and the occupant of the oncoming vehicle.

The above objects, features and advantages should be readily understood from the following description of the embodiments with reference to the accompanying drawings.

Drawings

Fig. 1 is a block diagram of a vehicle control device according to the present embodiment.

Fig. 2 is a functional block diagram of the arithmetic device.

Fig. 3 is a schematic diagram showing a situation 1 assumed in the present embodiment.

Fig. 4 is a flowchart showing a flow of a basic process performed by the vehicle control device.

Fig. 5 is a schematic diagram illustrating situation 2 assumed in the present embodiment.

Fig. 6 is a schematic diagram illustrating situation 3 assumed in the present embodiment.

Fig. 7 is a schematic diagram illustrating a 4 th situation assumed in the present embodiment.

Fig. 8 is a flowchart showing a flow of additional processing performed in the vehicle control device.

Detailed Description

Hereinafter, a vehicle control device according to the present invention will be described in detail with reference to the drawings by referring to preferred embodiments.

[1. overview of vehicle control device 10 ]

The vehicle control device 10 shown in fig. 1 can switch between manual driving in which an occupant performs travel control (vehicle control for acceleration, deceleration, and steering) of the vehicle 90 (fig. 3) and automatic driving in which at least a part of the travel control is automatically performed.

[2. Structure of vehicle control device 10 ]

The configuration of the vehicle control device 10 will be described with reference to fig. 1. The vehicle control device 10 is provided in the host vehicle 90. The vehicle control device 10 has a control section 12, an input device group that inputs various information to the control section 12, and an output device group; the output device group operates the host vehicle 90 based on various information output from the control unit 12. The input device group includes the outside world sensor 14, the navigation device 16, the positioning portion 18, the communication portion 20, the vehicle body behavior sensor 22, and the operation sensor 24. The output device group includes a driving force output device 28, a brake device 30, a steering device 32, and an HMI 34.

[2.1 Structure of input device group ]

The ambient sensor 14 includes more than 1 camera 40, more than 1 radar 42, and more than 1 LiDAR 44. The camera 40 captures an image of the surrounding environment of the host vehicle 90 and outputs image information to the control unit 12. The radar 42 and the LiDAR44 detect a target in the periphery of the host vehicle 90, and output detection information to the control unit 12.

The navigation device 16 specifies the position of the host vehicle 90 by GPS or the like, generates a travel route from the position of the host vehicle 90 to a destination designated by the occupant with reference to the map information of the 1 st map 46, and outputs the travel route information to the control unit 12.

The positioning section 18 outputs position information indicating the position of the own vehicle 90 determined by the GNSS48 and the IMU50 and map information of the 2 nd map 52 to the control section 12. The 2 nd map 52 has map information with higher accuracy than the 1 st map 46 and more detail than the 1 st map 46, and includes information such as the number of lanes included in a road, a lane position, and a lane width, for example.

The communication unit 20 includes a communication device that receives information broadcast from a broadcast station, a communication device that receives information transmitted from a road side unit installed on a road, and a communication device that receives information transmitted from a vehicle other than the vehicle 90, and outputs the received various information to the control unit 12.

The vehicle body behavior sensor 22 includes various sensors for measuring the behavior of the host vehicle 90, for example, a vehicle speed sensor for detecting the traveling speed of the host vehicle 90, a yaw rate sensor for detecting the yaw rate of the host vehicle 90, and the like. The vehicle body behavior sensor 22 outputs various kinds of detected information to the control unit 12.

The operation sensor 24 includes various switches or sensors for detecting operations performed by the occupant, and includes, for example: an automatic driving switch that instructs switching between automatic driving and manual driving; a turn signal switch that indicates a flashing direction of the turn signal; an accelerator pedal sensor that detects an operation amount of an accelerator pedal; a brake pedal sensor that detects an operation amount of a brake pedal; a steering angle sensor that detects a steering angle of a steering wheel; and a touch sensor provided on the steering wheel. The operation sensor 24 outputs various kinds of detected information to the control section 12.

[2.2 Structure of control section 12 ]

The control unit 12 is constituted by an ECU. The control unit 12 includes an input/output device 56, an arithmetic device 58, and a storage device 60. The input/output device 56 is constituted by an a/D conversion circuit, a communication interface, a driver, and the like. The arithmetic device 58 is constituted by a processor having a CPU or the like, for example. The arithmetic device 58 realizes various functions by executing programs stored in the storage device 60. Various functions of the arithmetic device 58 will be described in [2.4] below. The storage device 60 is constituted by a memory such as a RAM or a ROM. The storage device 60 stores various programs, numerical information used for processing by the arithmetic device 58, and the like.

[2.3 Structure of output device group ]

The driving force output device 28 has a driving force output ECU and an actuator (including a drive motor, a throttle valve, and the like) that is a control target of the driving force output ECU. The driving force output device 28 adjusts the driving force in accordance with an operation of an accelerator pedal by an occupant or instruction information (driving instruction) output from the control unit 12.

The brake device 30 includes a brake ECU and actuators (including brake actuators and the like) to be controlled by the brake ECU. The brake device 30 adjusts the braking force in accordance with the operation of the brake pedal by the occupant or instruction information (braking instruction) output from the control unit 12.

The steering device 32 has an Electric Power Steering (EPS) ECU and an actuator (including an EPS actuator and the like) that is a control target of the EPSECU. The steering device 32 adjusts the steering angle in accordance with the operation of the steering wheel by the occupant or instruction information (steering instruction) output from the control unit 12.

The HMI34 has a display device 62 and a speaker device 64. The display device 62 outputs video information in accordance with instruction information (notification instruction) output from the control unit 12. The display device 62 may also be an input device having a touch panel. The speaker device 64 outputs voice information in accordance with instruction information (notification instruction) output from the control unit 12.

[2.4. various functions of the arithmetic device 58 ]

Various functions realized by the arithmetic device 58 will be described with reference to fig. 2. The arithmetic device 58 functions as an external environment recognition unit 66, a vehicle position recognition unit 68, an action planning unit 70, a vehicle control unit 72, and a notification control unit 74.

The environment recognizing unit 66 performs image processing using image information output from the camera 40 and object recognition using detection information of the radar 42 and the LiDAR44 to recognize the state of the surroundings of the host vehicle 90. The vehicle position recognition unit 68 recognizes the position of the vehicle 90 based on the position information output from the navigation device 16 or the positioning unit 18 and at least one of the map information of the 1 st map 46 and the 2 nd map 52.

The action planning unit 70 generates a local map (dynamic map) including static information and dynamic information of the periphery of the host vehicle 90 based on the recognition result of the external world recognition unit 66 and the recognition result of the host vehicle position recognition unit 68. Then, the action planning unit 70 determines an optimal action from the local map and the state (travel speed, steering angle, position) of the host vehicle 90, calculates a travel speed (or acceleration/deceleration) for realizing the action, and generates a travel track. In the present embodiment, the action planning unit 70 functions as a behavior determination unit 76 that determines the behavior of a preceding vehicle 96 (fig. 3) traveling in a vehicle lane 100 (fig. 3), and an action specification unit 78 that specifies the action of the host vehicle 90 based on the recognition result of the external world recognition unit 66 and the determination result of the behavior determination unit 76, and the action determination unit 76 determines the action of the host vehicle 90.

The vehicle control unit 72 calculates an acceleration/deceleration for operating the host vehicle 90 at the running speed calculated by the action planning unit 70, and a steering angle; the steering angle is used to cause the host vehicle 90 to travel along the travel locus generated by the action planning unit 70. The vehicle control unit 72 outputs instruction information instructing acceleration/deceleration and steering angle to the driving force output device 28, the brake device 30, and the steering device 32 via the input/output device 56.

When notification is required in accordance with the operation specified by the action planning unit 70, the notification control unit 74 outputs instruction information indicating the notification content to the HMI34 via the input/output device 56.

[3. processing by the vehicle control device 10 ]

[3.1. basic treatment ]

As shown in fig. 3, in the present embodiment, when an obstacle 92 that impedes the travel of the oncoming vehicle 98 is present in an oncoming lane 102 ahead of the host vehicle 90 in the direction of travel (on the front side of the host vehicle 90 on the oncoming lane 102) (at a position ahead of the host vehicle 90 on the oncoming lane 102), a leading vehicle 96 is present ahead of the obstacle 92 in the direction of travel, and the leading vehicle 96 is stopped at a position within a 1 st predetermined distance D1t from the obstacle 92, the host vehicle 90 is stopped in front of the obstacle 92. In the following description, the forward direction of the traveling direction means the forward direction of the host vehicle 90, and means the forward direction with reference to the host vehicle 90.

The basic processing performed by the vehicle control device 10 will be described with reference to fig. 4. When the driving state of the host vehicle 90 is the autonomous driving state, a series of processes described below are performed at predetermined time intervals. The external sensor 14 acquires various information at all times or at predetermined intervals, and outputs the information to the control unit 12.

In step S1, the external world identification unit 66 determines whether or not there is an obstacle 92 obstructing the travel of the oncoming vehicle 98 in the oncoming traffic lane 102 ahead of the own vehicle 90 in the traveling direction. The obstacle 92 that hinders the traveling of the oncoming vehicle 98 is an object that is in a stopped state and has a width greater than or equal to a predetermined width or a height greater than or equal to a predetermined height. The outside world recognizing portion 66 recognizes a vehicle stopped on the oncoming lane 102 (hereinafter referred to as a stopped vehicle 94) as the obstacle 92. For example, as shown in fig. 3, the outside world recognizing unit 66 recognizes the stopped vehicle 94 stopped across the oncoming lane 102 and the shoulder 106 as the obstacle 92. The obstacle 92 includes a stopped vehicle 94 that stops on the road, and also includes a stopped vehicle 94 that stops at an end of the opposite lane 102 to enter a store, a parking lot, an intersection, or the like. On the other hand, as shown in fig. 5, when recognizing that the obstacle 92 is the stopped vehicle 94 and recognizing that there is a crosswalk 108 in front of the stopped vehicle 94 (on the own vehicle 90 side), the outside world recognizing unit 66 does not recognize the stopped vehicle 94 as the obstacle 92. If there is an obstacle 92 (yes in step S1), the process proceeds to step S2. On the other hand, in the case where there is no obstacle 92 (NO in step S1), the process proceeds to step S7.

In step S2, the external world identification unit 66 determines whether or not the preceding vehicle 96 is present in the own vehicle lane 100 ahead of the own vehicle 90 in the traveling direction. If there is a preceding vehicle 96 (yes in step S2), the process proceeds to step S3. On the other hand, in the case where there is no preceding vehicle 96 (NO in step S2), the process proceeds to step S7.

In step S3, the behavior determination unit 76 determines the behavior of the preceding vehicle 96 based on the recognition result of the external world recognition unit 66. Here, the behavior determination unit 76 determines whether or not the preceding vehicle 96 is in a stopped state (whether in a stopped state or a state expected to be stopped), and determines (expects) a stop position when it is determined to be in a stopped state.

When the external world identification unit 66 identifies the stopped preceding vehicle 96, for example, when the traveling speed of the preceding vehicle 96 is zero, the behavior determination unit 76 determines that the preceding vehicle 96 is in the stopped state. The behavior determination unit 76 determines that the current position of the preceding vehicle 96 is the stop position.

When the external world identification unit 66 identifies the preceding vehicle 96 that is about to stop, for example, when the traveling speed of the preceding vehicle 96 is equal to or lower than a predetermined speed and the brake lamp is in the on state, the behavior determination unit 76 determines (predicts) that the preceding vehicle 96 is stopped. At this time, the behavior determination portion 76 determines (predicts) the stop position based on the deceleration of the preceding vehicle 96.

Alternatively, when the external world identification unit 66 identifies the traffic signal 110 in a predetermined range ahead of the host vehicle 90 in the traveling direction and identifies that the traffic signal is a stop instruction, the behavior determination unit 76 determines (predicts) that the preceding vehicle 96 is stopped. The environment recognizing unit 66 recognizes the distance from the host vehicle 90 to the traffic signal 110 from the 1 st map 46 or the 2 nd map 52, and recognizes the traffic signal from the image information acquired by the camera 40 or the signal information acquired by the communication unit 20. At this time, the behavior determination portion 76 determines (predicts) the stop position based on the deceleration of the preceding vehicle 96.

Alternatively, when the boundary recognizing unit 66 recognizes that traffic congestion is occurring in the own-vehicle lane 100 ahead of the own vehicle 90 in the traveling direction, the behavior determining unit 76 determines (predicts) that the preceding vehicle 96 is stopped. The external world identification unit 66 identifies the occurrence of traffic congestion from the image information acquired by the camera 40 or the traffic information acquired by the communication unit 20. At this time, the behavior determination portion 76 determines (predicts) the stop position based on the deceleration of the preceding vehicle 96.

In step S4, the behavior determination unit 76 determines whether or not the preceding vehicle 96 has stopped at a position within the 1 st predetermined distance D1t from the obstacle 92. The behavior determination section 76 calculates the 1 st distance D1 between the position of the obstacle 92 identified in step S1 and the stop position of the preceding vehicle 96 determined in step S3. As shown in fig. 3, the 1 st distance D1 is defined as the distance between the position of a predetermined portion of the obstacle 92 (the vehicle center in the figure) and the position of a predetermined portion of the preceding vehicle 96 (the vehicle rear end in the figure) drawn on a line segment parallel to the traveling direction. Then, the behavior determination unit 76 compares the calculated 1 st distance D1 with the 1 st predetermined distance D1 t. The 1 st predetermined distance D1t is set in advance as a lower limit value of a distance by which the oncoming vehicle 98 can easily pass between the leading vehicle 96 and the obstacle 92, and is stored in the storage device 60. If the 1 st distance D1 ≦ the 1 st predetermined distance D1t, that is, if the front vehicle 96 stops at a position within the 1 st predetermined distance D1t from the obstacle 92 (yes in step S4), the process proceeds to step S5. On the other hand, when the 1 st distance D1 > the 1 st predetermined distance D1t, that is, when the preceding vehicle 96 does not stop at a position within the 1 st predetermined distance D1t from the obstacle 92 (no in step S4), the process proceeds to step S7.

In step S5, the external world recognizing section 66 recognizes the 2 nd distance D2 between the center line 104 and the obstacle 92, the center line 104 being used to divide the host vehicle lane 100 and the oncoming lane 102. Then, the motion determination unit 78 determines whether or not the 2 nd distance D2 is smaller than the 2 nd predetermined distance D2t based on the recognition result of the external world recognition unit 66. The 2 nd predetermined distance D2t is set in advance as a lower limit value of a distance that the oncoming vehicle 98 can pass by the obstacle 92 without crossing the center line 104, and is stored in the storage device 60. If the 2 nd distance D2 < the 2 nd predetermined distance D2t (step S5: YES), the process proceeds to step S6. On the other hand, if the 2 nd distance D2 ≧ the 2 nd predetermined distance D2t (no in step S5), the process proceeds to step S7.

In step S6, the motion determination unit 78 sets the stop position of the vehicle 90 at a position distant from the position of the obstacle 92 recognized in step S1 by the 3 rd predetermined distance D3t in the direction opposite to the traveling direction, and sets the travel locus to the stop position. The 3 rd predetermined distance D3t is set in advance as a lower limit value of the distance between the subject vehicle 90 and the obstacle 92, through which the oncoming vehicle 98 can easily pass, and is stored in the storage device 60. The vehicle control unit 72 calculates various operation amounts to realize the vehicle motion determined by the motion determination unit 78, that is, the motion of stopping the own vehicle 90 at the set stop position. The vehicle control unit 72 outputs instruction information to the driving force output device 28, the brake device 30, and the steering device 32, and stops the host vehicle 90 in front of the obstacle 92.

When the process proceeds from step S1, step S2, step S4, and step S5 to step S7, the motion determination unit 78 sets a travel speed and a travel trajectory for causing the host vehicle 90 to travel in a direction away from the oncoming lane 102 (toward the host-vehicle-lane side away from the oncoming lane 102), as shown in fig. 6. The vehicle control portion 72 calculates various operation amounts to achieve the vehicle motion determined by the motion determination portion 78. The vehicle control unit 72 outputs an operation instruction to the driving force output device 28, the brake device 30, and the steering device 32, and causes the host vehicle 90 to travel.

[3.2. additional treatment ]

As shown in fig. 7, when the following vehicle 112 travels on the own-vehicle lane 100 ahead of the own vehicle 90 in the opposite direction to the traveling direction (behind the own vehicle 90), the determination condition whether or not to stop the own vehicle 90 may be changed according to the number of the following vehicles 112. An example thereof will be described with reference to fig. 8. Here, as an example of changing the determination condition, an embodiment in which the 1 st predetermined distance D1t is changed will be described. The processing described below is performed before the processing of step S4 in fig. 4 is performed.

In step S11, the outside world identification portion 66 identifies the following vehicle 112 and the number of the following vehicles 112. In the case where the number of following vehicles 112 is greater than 0, that is, in the case where there is a following vehicle 112 (step S11: yes), the process shifts to step S12. On the other hand, in the case where the number of following vehicles 112 is 0, that is, in the case where there is no following vehicle 112 (NO in step S11), the process proceeds to step S14.

In step S12, the external world identification unit 66 identifies the vehicle distance D4 between the forefront following vehicle 112 (the following vehicle closest to the host vehicle 90) and the host vehicle 90. Then, the outside world recognizing unit 66 compares the vehicle distance D4 with the predetermined vehicle distance D4 t. The predetermined vehicle distance D4t is set in advance and stored in the storage device 60. If the vehicle distance D4 is smaller than the predetermined vehicle distance D4t (step S12: yes), the process proceeds to step S13. On the other hand, when the inter-vehicle distance D4 is equal to or greater than the predetermined inter-vehicle distance D4t (no in step S12), the process proceeds to step S14.

In step S13, the behavior determination section 76 changes the 1 st prescribed distance D1t in accordance with the number of following vehicles 112. Here, the behavior determination unit 76 sets the 1 st predetermined distance D1t to the 2 nd change distance, and the 2 nd change distance becomes larger as the number of following vehicles 112 becomes larger than the initial value (the storage value of the storage device 60).

When the process proceeds from step S11 and step S12 to step S14, the behavior determination section 76 maintains the 1 st prescribed distance D1 t. Here, the behavior determination unit 76 sets the 1 st predetermined distance D1t as an initial value (a storage value of the storage device 60). The initial value is referred to as the 1 st change distance. The 1 st changing distance and the 2 nd changing distance can be arbitrarily set.

[4. other examples ]

The processing of step S5 of fig. 4 and the processing of step S12 of fig. 8 are not essential. In the process of step S11 in fig. 8, 0 is set as the number of determinations of the following vehicle 112, but the number of determinations may be other than 0.

[5 ] technical ideas available according to embodiments ]

The technical ideas that can be grasped from the above-described embodiments and modifications are described below.

In the mode of the invention, the light-emitting diode is characterized in that,

the vehicle control device 10 includes: an environment recognizing section 66, a behavior judging section 76, a motion determining section 78, and a vehicle control section 72, wherein,

the external world recognizing portion 66 recognizes a situation of a host vehicle lane 100 in which the host vehicle 90 is traveling and a state of an opposing lane 102 adjacent to the host vehicle lane 100, based on information output from the external world sensor 14;

the behavior determination section 76 determines the behavior of the preceding vehicle 96 on the own-vehicle lane 100;

the motion determination unit 78 determines the motion of the own vehicle 90 based on the recognition result of the external world recognition unit 66 and the determination result of the behavior determination unit 76;

the vehicle control portion 72 controls the own vehicle 90 according to the action determined by the action determination portion 78,

when the external world recognizing unit 66 recognizes that an obstacle 92 obstructing the travel of the oncoming vehicle 98 is present in the oncoming lane 102 ahead of the host vehicle 90 in the traveling direction and recognizes that the preceding vehicle 96 is present at a position ahead of the obstacle 92 in the traveling direction, and when the behavior determining unit 76 determines that the preceding vehicle 96 is stopped at a position within a predetermined distance (1 st predetermined distance D1t) from the obstacle 92, the motion determining unit 78 stops the host vehicle 90 in front of the obstacle 92.

According to the above configuration, the host vehicle 90 stops in front of the obstacle 92 in a situation where the obstacle 92 is present on the oncoming lane 102 ahead of the host vehicle 90 in the traveling direction, the preceding vehicle 96 is present at a position ahead of the obstacle 92 in the traveling direction, and the preceding vehicle 96 stops at a position within a predetermined distance (the 1 st predetermined distance D1t) from the obstacle 92. Therefore, the vehicle 90 does not come close to the obstacle 92 and stop at the position of the obstacle 92 or beyond the obstacle 92. Therefore, when the oncoming vehicle 98 runs while avoiding the obstacle 92, the own vehicle 90 does not interfere with the running of the oncoming vehicle 98, and the own vehicle 90 and the oncoming vehicle 98 do not approach each other. Therefore, when the host vehicle 90 and the oncoming vehicle 98 pass alternately, it is possible to give a sense of safety to the occupant of the host vehicle 90 and the occupant of the oncoming vehicle 98.

In the aspect of the present invention, the first and second substrates may be,

when the own-vehicle lane 100 ahead of the own vehicle 90 in the traveling direction is in a traffic jam state, the behavior determination unit 76 determines that the preceding vehicle 96 is stopped at a position within a predetermined distance (1 st predetermined distance D1t) from the obstacle 92 (step S3 in fig. 4).

With the above configuration, it is possible to appropriately determine whether or not the preceding vehicle 96 is stopped.

In the aspect of the present invention, the first and second substrates may be,

when the traffic light 110 on the host vehicle lane 100 ahead of the host vehicle 90 in the traveling direction indicates a stop instruction, the behavior determination unit 76 determines that the host vehicle 96 stops at a position within a predetermined distance (1 st predetermined distance D1t) from the obstacle 92 (step S3 in fig. 4).

In the aspect of the present invention, the first and second substrates may be,

a predetermined distance (2 nd predetermined distance D2t) is set in addition to the predetermined distance (1 st predetermined distance D1t),

when the outside world recognizing unit 66 recognizes that the distance (the 2 nd distance D2) between the center line 104 and the obstacle 92 is smaller than the other predetermined distance (the 2 nd predetermined distance D2t), the motion determining unit 78 stops the vehicle 90 in front of the obstacle 92, the center line 104 being a line that divides the vehicle lane 100 and the opposite lane 102 (step S5: yes in fig. 4).

With the above configuration, the possibility of the host vehicle 90 and the oncoming vehicle 98 approaching can be appropriately determined, and the host vehicle 90 can be stopped when the possibility is high.

In the aspect of the present invention, the first and second substrates may be,

when the outside world identifier 66 identifies that the distance (the 2 nd distance D2) between the center line 104 and the obstacle 92 is greater than the other predetermined distance (the 2 nd predetermined distance D2t), the motion determiner 78 causes the host vehicle 90 to travel in a direction away from the opposite lane 102 (step S5: no, step S7 in fig. 4).

With the above configuration, the possibility of the host vehicle 90 and the oncoming vehicle 98 approaching can be appropriately determined, and the host vehicle 90 can be caused to travel without stopping the host vehicle 90 when the possibility is low. Further, it is assumed that even if the oncoming vehicle 98 excessively enters the own-vehicle lane 100, the own vehicle 90 and the oncoming vehicle 98 can be prevented from coming very close.

In the aspect of the present invention, the first and second substrates may be,

if the outside world recognizing portion 66 recognizes the stopped vehicle 94 stopped on the opposite lane 102 and recognizes the crosswalk 108 in front of the stopped vehicle 94, the stopped vehicle 94 is not recognized as the obstacle 92 (step S1: no in fig. 4).

Normally, a stopped vehicle 94 that is merely stopped before the crosswalk 108 does not hinder the running of the oncoming vehicle 98. According to the above configuration, such a stopped vehicle 94 is not recognized as the obstacle 92, and therefore, the own vehicle 90 does not stop unnecessarily.

In the aspect of the present invention, the first and second substrates may be,

the outside world recognizing unit 66 recognizes the stopped vehicle 94 stopped astride the oncoming lane 102 and the shoulder 106 as the obstacle 92 (step S1: yes in fig. 4).

With the above configuration, it is possible to appropriately determine the obstacle 92.

In the aspect of the present invention, the first and second substrates may be,

the outside world recognizing unit 66 recognizes a following vehicle 112, the following vehicle 112 traveling on the own vehicle lane 100 on the opposite side of the own vehicle 90 in the forward direction (i.e., rearward of the own vehicle 90 in the forward direction),

the determination condition (fig. 8) of whether or not to stop the host vehicle 90 is changed according to the presence or absence of the following vehicle 112 recognized by the external world recognition unit 66.

According to the above configuration, the host vehicle 90 stops in front of the obstacle 92, and the following vehicle 112 can be prevented from stopping in the vicinity of the obstacle 92 and approaching the oncoming vehicle 98.

In the aspect of the present invention, the first and second substrates may be,

the determination condition is the prescribed distance (1 st prescribed distance D1t),

when the number of following vehicles 112 is 0, the behavior determination unit 76 sets the predetermined distance (1 st predetermined distance D1t) to the 1 st change distance (initial value); when the number of following vehicles 112 is 1 or more, the behavior determination unit 76 sets the predetermined distance (1 st predetermined distance D1t) to the 2 nd change distance that is greater than the 1 st change distance (step S11 in fig. 8).

According to the above configuration, since the stop control of the host vehicle 90 is facilitated in the presence of the following vehicle 112, the following vehicle 112 can be prevented from stopping around the obstacle 92 in advance.

In the aspect of the present invention, the first and second substrates may be,

the behavior determination unit 76 increases the predetermined distance (the 1 st predetermined distance D1t) as the number of the following vehicles 112 increases (step S13 in fig. 8).

According to the above configuration, the greater the number of following vehicles 112, the easier the parking control of the host vehicle 90 becomes, and therefore, the following vehicles 112 can be prevented from being parked around the obstacle 92 in advance.

In the aspect of the present invention, the first and second substrates may be,

in the case where the external world recognizing unit 66 recognizes that the inter-vehicle distance D4 between the preceding following vehicle 112 (the following vehicle closest to the host vehicle 90) and the host vehicle 90 is smaller than the prescribed inter-vehicle distance D4t, the behavior judging unit 76 changes the determination condition,

when the outside world identifier 66 identifies that the inter-vehicle distance D4 is greater than the predetermined inter-vehicle distance D4t, the behavior determination unit 76 holds the determination condition (step S12: no, step S14 in fig. 8).

When the vehicle distance D4 between the host vehicle 90 and the following vehicle 112 is large, there is a high possibility that the following vehicle 112 can confirm the position at which the host vehicle 90 stops due to traffic congestion or the like in front of the obstacle 92. Therefore, the following vehicle 112 can autonomously stop in front of the obstacle 92.

The vehicle control device according to the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted within a range not departing from the gist of the present invention.

Claims

1. A vehicle control apparatus, characterized in that,

has an external recognition unit (66), a behavior determination unit (76), a motion determination unit (78), and a vehicle control unit (72),

the external environment recognition unit (66) recognizes the state of a host vehicle lane (100) in which a host vehicle (90) is traveling and the state of an opposing lane (102) adjacent to the host vehicle lane, based on information output from an external environment sensor (14);

the behavior determination unit (76) determines the behavior of a preceding vehicle on the own-vehicle lane;

the action determination unit (78) determines the action of the host vehicle on the basis of the recognition result of the external recognition unit and the determination result of the behavior determination unit;

the vehicle control unit (72) controls the host vehicle according to the motion determined by the motion determination unit,

the action determination unit stops the host vehicle in front of the obstacle when the external recognition unit recognizes that an obstacle (92) that impedes the travel of an oncoming vehicle (98) is present in the oncoming lane ahead of the host vehicle in the direction of travel and recognizes that the leading vehicle is present at a position ahead of the obstacle in the direction of travel, and when the behavior determination unit determines that the leading vehicle is stopped at a position within a predetermined distance (D1t) from the obstacle.

2. The vehicle control apparatus according to claim 1,

the behavior determination unit determines that the preceding vehicle stops at a position within a predetermined distance from the obstacle when the own vehicle lane ahead of the own vehicle in the traveling direction is in a traffic jam state.

3. The vehicle control apparatus according to claim 1,

when a traffic light (110) on the host vehicle lane ahead of the host vehicle in the traveling direction indicates a stop instruction, the behavior determination unit determines that the host vehicle stops at a position within a predetermined distance from the obstacle.

4. The vehicle control apparatus according to claim 1,

a predetermined distance (D2t) is set in addition to the predetermined distance,

when the external world recognition unit recognizes that a distance (D2) between a center line (104) and the obstacle is smaller than the other predetermined distance, the motion determination unit stops the host vehicle in front of the obstacle, wherein the center line (104) is a line that divides the host vehicle lane and the opposite lane.

5. The vehicle control apparatus according to claim 4,

when the external world recognizing unit recognizes that the distance between the center line and the obstacle is greater than the other predetermined distance, the motion specifying unit causes the host vehicle to travel in a direction away from the opposite lane.

6. The vehicle control apparatus according to claim 1,

when the external world identification portion identifies a stopped vehicle (94) stopped on the opposite lane and a crosswalk (108) in front of the stopped vehicle, the stopped vehicle is not identified as the obstacle.

7. The vehicle control apparatus according to claim 1,

the external world recognition unit recognizes a stopped vehicle that has stopped astride the oncoming lane and the shoulder (106) as the obstacle.

8. The vehicle control apparatus according to claim 1,

the external world identification unit identifies a following vehicle (112), the following vehicle (112) traveling in the host vehicle lane on the opposite side of the travel direction of the host vehicle,

the determination condition of whether or not to stop the own vehicle is changed according to the presence or absence of the following vehicle recognized by the external world recognition unit.

9. The vehicle control apparatus according to claim 8,

the determination condition is that the prescribed distance is,

when the number of the following vehicles is 0, the behavior determination unit sets the predetermined distance to a 1 st change distance; when the number of following vehicles is 1 or more, the behavior determination unit sets the predetermined distance to a 2 nd change distance that is greater than the 1 st change distance.

10. The vehicle control apparatus according to claim 9,

the behavior determination unit increases the predetermined distance as the number of the following vehicles increases.

11. The vehicle control apparatus according to claim 8,

the behavior determination section changes the determination condition when the external world identification section identifies that a vehicle distance (D4) between the preceding following vehicle and the own vehicle is smaller than a prescribed vehicle distance (D4t),

the behavior determination unit holds the determination condition when the external world identification unit identifies that the inter-vehicle distance is larger than the predetermined inter-vehicle distance.